A Comparative Study: Modified Particle Swarm Optimization and Modified Genetic Algorithm for Global Mobile Robot Navigation

摘要

In this paper, Modified Genetic Algorithm (MGA* 1 ) and Modified Particle Swarm Optimization (MPSO* 1 ) are developed to increase the capability of the optimization algorithms for a global path planning which means that environment models have been known already. The proposed algorithms read the map of the environment which expressed by grid model and then creates an optimal or near optimal collision free path. The effectiveness of these optimization algorithms for mobile robot path planning is demonstrated by simulation studies. This paper investigates the application of efficient optimization algorithms, MGA* and MPSO* to the problem of mobile robot navigation.